EP2381272B1 - Laser scanner - Google Patents

Laser scanner Download PDF

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Publication number
EP2381272B1
EP2381272B1 EP11162947.3A EP11162947A EP2381272B1 EP 2381272 B1 EP2381272 B1 EP 2381272B1 EP 11162947 A EP11162947 A EP 11162947A EP 2381272 B1 EP2381272 B1 EP 2381272B1
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EP
European Patent Office
Prior art keywords
unit
light emitting
light
detecting
deflection member
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Application number
EP11162947.3A
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German (de)
English (en)
French (fr)
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EP2381272A1 (en
Inventor
Fumio Ohtomo
Kaoru Kumagai
Minoru Chiba
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Topcon Corp
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Topcon Corp
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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors

Definitions

  • the present invention relates to laser scanning.
  • Embodiments relate to a laser scanner for projecting pulsed laser beams to scan over total circumference, for measuring a multiple number of points at high speed and for acquiring three-dimensional position data at the multiple number of points.
  • a line scanner has been known as a laser scanner, which projects a single pulsed laser beam on a straight line for scanning and acquires distance measurement data for each pulse.
  • a laser scanner As a device for acquiring data at a multiple number of points in total circumferential direction at higher speed, a laser scanner is known, which is used to acquire the data by projecting a plurality of beams (multi-beams) for scanning at the same time.
  • Such type of laser scanner is disclosed, for instance, in the International Patent Publication 2008-008970.
  • the International Patent Publication 2008-008970 discloses a laser scanner, which projects the plurality of laser beams in straight-line arrangement (e.g. in vertical arrangement) and scans in a direction perpendicularly crossing the arraying of laser beams (e.g. in horizontal direction). As a result, multi-point data in planar arraying are acquired.
  • the laser scanner As described above, all components of the measuring system are disposed on a rotating unit, and the laser scanner has a structure where a rotating unit with high weight is rotated at high speed. As a result, the structure must be strong and solid and must have high accuracy. Accordingly, the laser scanner is costly.
  • United States Patent Application Publication US2008/0186470 discloses a method for the taking of a large number of distance images comprising distance picture elements, wherein electromagnetic radiation is transmitted in each case in the form of transmission pulses using a plurality of transmitters arranged in an array for each distance image to be taken and reflected echo pulses are detected using a plurality of receivers arranged in an array, with the respective distances of objects at which the transmission pulses are reflected and forming a distance picture element being measured by determining the pulse time of flight, wherein a plurality of individual measurements are carried out using a time measuring device connected after the receiver array for each distance image to be taken, in which individual measurements a respective pulse chain is processed which includes a logical start pulse derived from the respective transmission pulse and at least one logical receiver pulse formed from an echo pulse or a noise pulse, wherein the one reference of the receiver, the reference being broken through by the underlying echo pulses or noise pulses, with an exceeding of the reference forming the positive flank of the receiver pulse defining a down event, wherein,
  • European patent application EP1411371A1 discloses a surveying and position measuring instrument with a fan-shaped light beam for scanning a photo receiver as a target to be measured, and an automatic position detection instrument capable of emitting distance measuring light and tracking light while turning directions of the distance measuring light and the tracking light so that three-dimensional measurement of a light receiving position is performed, and further capable of transmitting measured data to a photoreceiver provided on a target.
  • a light source unit emits measuring light, and then a light receiving unit receives its reflected light.
  • a scanning means emits measuring light in a scanning direction, and leads its reflected light to the light receiving unit.
  • An angle detector detects the rotational position of the scanning means.
  • the measuring light includes distance measuring light expanding in a fan-shaped manner. Its reflected light can be used to measure the distance to a reflector.
  • European patent application EP0854351 A2 discloses a laser survey instrument which comprises a rotary irradiation system main unit and an object reflector.
  • the object reflector has two or more reflection sectors, at least one of which has a reflection surface with a gradually changing shape.
  • the rotary irradiation system main unit comprises a light emitter for emitting a polarized irradiation light beam, a rotator for rotating and irradiating the polarized irradiation light beam toward the object reflector and for detecting an irradiating direction, a tilt setting unit for tilting a rotary irradiation plane of the polarized irradiation light beam, a detecting means for detecting a polarized reflection light beam reflected from said object reflector and entering the rotary irradiation system main unit via said rotator, a reflection light detecting circuit for identifying the object reflector from an output of the detecting means and a control unit for tracing said object reflector by operating said tilt setting unit based on detecting a condition of said reflect light detecting circuit and for tilting the rotation plane of said polarized irradiation light beam.
  • a laser scanner is provided in accordance with Claim 1.
  • Claim 1 it is possible to measure a multiple number of points by a plurality of pulsed laser beams and to acquire measurement data in a planar shape of a multiple number of points at high speed.
  • the portions to be measured by rotary scanning are limited to deflection members. Accordingly, it is possible to design the rotating unit in a lightweight construction and to reduce its cost.
  • Claim 2 The features of Claim 2 are preferably provided. As a result, it is possible to acquire measurement data in a planar shape and to attain uniformity of measurement density.
  • Claim 3 The features of Claim 3 are preferably provided. As a result, even if there is a rotation error in the rotating unit, measurement data of high accuracy can be obtained.
  • the feature of Claim 4 is preferably provided and this enables the measurement density to be increased.
  • a laser scanner 1 comprises a leveling unit 2, a main unit 3, and a rotating unit 4.
  • the main unit 3 is installed via the leveling unit 2, and the leveling unit 2 has a function to adjust posture of the main unit 3 by taking a horizontal direction as reference.
  • the rotating unit 4 is rotatably mounted around a vertical axis (a centerline of rotation) with respect to the main unit 3, and the rotating unit 4 is designed to be rotated at a constant speed by a rotary driving unit 5.
  • the main unit 3 comprises a light-projecting and light-receiving optical system 6, a light emitting unit 7, a photodetector 8, a distance measuring unit 9, and a control arithmetic unit 10.
  • An optical axis O of the light-projecting and light-receiving optical system 6 is extended in a vertical direction and coincides with a rotational centerline of the rotating unit 4.
  • the light emitting unit 7 is provided with a predetermined number of light emitting elements 11 disposed in a predetermined arrangement. For instance, 28 pieces of the light emitting elements 11 are arranged along circumference around the optical axis O at a predetermined number of equal angles, e.g. each disposed at an angle, which is obtained by equally dividing the circumference at 28 equal angles (12.86°).
  • each of the light emitting elements 11 emits a pulsed beam, e.g. a pulsed laser beam 12, as a distance measuring light in the horizontal direction along the optical axis O.
  • a pulsed beam e.g. a pulsed laser beam 12
  • the light-projecting and light-receiving optical system 6 at least comprises a first deflection member 13 for deflecting the pulsed laser beams 12 emitted from the light emitting element 11 in a direction parallel to the optical axis O, a condenser lens 14, and a second deflection member 15, which is mounted on the rotating unit 4 and used for deflecting the pulsed laser beams 12 in the horizontal direction or in an approximately horizontal direction.
  • the second deflection member 15 may be a reflecting mirror or a prism.
  • the first deflection member 13 comprises reflecting mirrors 16, each being disposed face-to-face to each of the light emitting elements 11.
  • the reflecting mirrors 16 are arranged along a circumference around the optical axis O at the predetermined angular pitch (i.e. 12.86° in the present embodiment).
  • the circumference where the reflecting mirrors 16 are arranged is designed to be smaller than the circumference where the light emitting elements 11 are disposed.
  • Each of the reflecting mirrors 16 deflects the pulsed laser beams 12 so that the optical axis of each of the pulsed laser beams 12 runs in parallel to the optical axis O.
  • the condenser lens 14 is to condense optical axes of the pulsed laser beams 12 to a point where the optical axis O and the second deflection member 15 cross each other.
  • the pulsed laser beam 12 is deflected in the horizontal direction by the second deflection member 15 and is projected to an object 17.
  • a reflection light 12' reflected from the object 17 is deflected by the second deflection member 15 and enters the condenser lens 14.
  • the condenser lens 14 makes the reflection light 12' converge to the photodetector 8. Because the condenser lens 14 is designed to condense the light axes of the pulsed laser beams 12 onto the second deflection member 15, it is possible to design the second deflection member 15 in smaller size.
  • the photodetector 8 is disposed at a position to be separated (to turn away) from the condenser lens 14 with respect to the light emitting unit 7.
  • the photodetector 8 comprises a predetermined number of photodetecting elements 18 arranged on a circumference around the optical axis O.
  • the photodetecting elements 18 are disposed at the predetermined angular pitch (12.86° in the present embodiment).
  • Each of the photodetecting elements 18 is positioned face-to-face to each of the light emitting elements 11, and each of the photodetecting elements 18 is disposed at positions conjugate to each of the light emitting elements 11.
  • the distance measuring unit 9 Based on a light-receiving (photodetecting) signal from the photodetector 8, the distance measuring unit 9 performs electro-optical distance measurement (distance measurement) to the object 17 for each of the pulses of the pulsed laser beams 12, and the results of the distance measurement are stored in the control arithmetic unit 10.
  • the rotating unit 4 is rotated at a predetermined constant speed by the rotary driving unit 5.
  • the second deflection member 15 is rotated integrally with the rotating unit 4.
  • the pulsed laser beams 12 are deflected in the horizontal direction and perform scanning over total circumference in the horizontal direction.
  • the rotating unit 4 has a rotation angle detecting unit, e.g. a rotary encoder unit 19 to be rotated integrally with the second deflection member 15, and a projecting direction (horizontal angle) of the pulsed laser beam 12 is detected by the rotary encoder unit 19.
  • a rotational deviation detector 22 is arranged in the main unit 3, and a reflecting mirror unit 21 is provided on a circumferential edge of the rotary encoder unit 19, and the rotational deviation detector 22 is disposed in such manner as to face to the reflecting mirror unit 21. More concretely, the rotational deviation detector 22 projects a tilted detecting light toward the reflecting mirror unit 21, and a tilting of the rotary encoder unit 19 with respect to the main unit 3 can be detected according to a change of angle of the reflection light from the reflecting mirror unit 21.
  • the reflecting mirror unit 21, the rotational deviation detector 22, etc. make up together a rotational deviation detecting unit 23.
  • the rotational deviation detecting unit 23 detects changes in direction of the rotation center axis of the rotating unit 4.
  • the changes of projecting direction of the pulsed laser beam 12 are detected when the rotation center of the rotating unit 4 is deviated.
  • Fig. 2 shows a control block diagram of the laser scanner 1.
  • reference number 24 denotes an operation unit
  • number 25 represents a storage unit
  • number 26 a display unit
  • number 27 represents a light emission driving unit.
  • Signals are inputted to the control arithmetic unit 10 from the rotary encoder unit 19, the rotational deviation detecting unit 23, and the operation unit 24.
  • the control arithmetic unit 10 controls driving of the rotary driving unit 5, the distance measuring unit 9, the display unit 26, and the light emission driving unit 27.
  • An address number is given to each of the photodetecting elements 18 of the photodetector 8 so as to match each position as disposed. For instance, address numbers of 18-1 to 18-n are given respectively to the photodetecting elements 18. Also, with respect to the light emitting elements 11, address numbers are given to match each position as disposed, such as a light emitting element 11-1 to a light emitting element 11-n so that the photodetecting element 18 of an address number corresponds to the light emitting element 11 with the same address number.
  • the light emitting element 11 and the photodetecting elements 18 are arranged at positions conjugate to each other.
  • the light emitting element 11 and the photodetecting elements 18 are in physically fixed positional relation to each other. Accordingly, regardless of rotation of the second deflection member 15, the pulsed laser beams 12 from each light emitting element 11 with an address number will be received by the photodetecting element 18 with the same address number.
  • a photodetection signal from a photodetecting element 18 is inputted to the distance measuring unit 9 and the control arithmetic unit 10.
  • distance measurement is performed based on the photodetection signal, and results of distance measurement are inputted to the control arithmetic unit 10.
  • An angle in the projecting direction of the pulsed laser beam 12 from the rotary encoder unit 19 is inputted to the control arithmetic unit 10, and results of tilt detection are inputted from the rotational deviation detecting unit 23.
  • the control arithmetic unit 10 makes the result of distance measurement from the distance measuring unit 9 correspond to the address number of each of the photodetecting elements 18. By associating this result of distance measurement with the result of the angle detection of the rotary encoder unit 19, these results are stored in the storage unit 25.
  • the result of tilt detection from the rotational deviation detecting unit 23 is associated with the result of angle detection of the rotary encoder unit 19, and the results are stored in the storage unit 25.
  • the storage unit 25 has a data storage region and a program storage region.
  • data such as distance measurement data, angle data detected by the rotary encoder unit 19, and tilt data as detected by the rotational deviation detecting unit 23 are stored.
  • program storage region various types of programs are stored.
  • These programs include: a sequence program for making the laser scanner 1 carry out measuring operation, a distance measuring program for carrying out a distance measurement and for calculating a distance, a projecting direction calculating program for calculating a projecting direction (horizontal angle and vertical angle) of the pulsed laser beam 12 as deflected by the second deflection member 15 and projected based on the result of angle detection by a rotary encoder unit 19, a compensation program to compensate the projecting direction of the pulsed laser beam 12 based on the result of angle detection by the rotary encoder unit 19, and other programs.
  • condition of the laser scanner 1, or measuring condition, guiding instruction on measurement procedure, measurement result, etc. are displayed.
  • reference symbol Va represents an actual vertical angle of the projected pulsed laser beam 12
  • reference symbol Vc represents a preset vertical angle (maximum vertical angle)
  • symbol Ha represents an actual horizontal rotation angle of the projected pulsed laser beam 12
  • symbol Hr represents a horizontal rotation angle of the second deflection member 15 (i.e. a rotation angle detected by the rotary encoder unit 19).
  • Each light emitting element 11 is at a position to concur with tilting direction of the second deflection member 15.
  • the position of the light emitting element 11 (as shown by tip of an arrow mark) is projected as a tip of an upright image, and the position of the light emitting element 11 has a maximum vertical angle Vc.
  • Va Vc ⁇ cos - 2 ⁇ Hr / 360 ;
  • Ha Hr - Vc ⁇ sin - 2 ⁇ Hr / 360 .
  • a horizontal rotation angle of the pulsed laser beam 12 as emitted from a light emitting element 11 and a vertical angle, that is, a locus of projecting position of the pulsed laser beam 12, is shown in Fig. 5 . Therefore, based on the result of angle detection from the rotary encoder unit 19, a projecting direction of the pulsed laser beam 12 can be determined.
  • Fig. 5 shows a case where it is supposed that the maximum preset vertical angle is 20°.
  • the light emitting elements 11 are disposed with a predetermined angular pitch (12.86° in the present embodiment) on the same circumference, and the pulsed laser beam 12 from each of the light emitting elements 11 changes the projecting direction by the second deflection member 15, and a phase is deviated by 12.86° between the adjacent light emitting elements 11-h and 11-(h + 1).
  • Fig. 6 shows projection loci of the pulsed laser beams 12 from all of the light emitting elements 11. Accordingly, a plane is measured so that mesh-like loci are drawn on the plane as a whole.
  • a structure is made up by a combination of vertical and horizontal elements, therefore, the pulsed laser beams 12 certainly scans crossing the vertical line and the horizontal line of the structure. As a result, there is no omission in the measurement.
  • Fig. 7 is a schematical drawing to show general features of an optical system according to a second embodiment.
  • a rotating prism 29 is provided as a means to deflect an optical path of a pulsed laser beam 12.
  • the rotating prism 29 is disposed at a predetermined position.
  • the rotating prism 29 is disposed between a condenser lens 14 and a second deflection member 15.
  • a rotating prism rotation angle detector for detecting a rotation angle of the rotating prism 29 is provided. By the rotating prism rotation angle detector, a rotation angle of the rotation prism 29 is detected, and a rotating position of the rotating prism 29 and a rotating position of the second deflection member 15 can be detected in such relation as to match each other.
  • a wedge prism is used, for instance.
  • a deviation amount of the optical path varies according to a change of transit position (passing position) caused by rotation of the prism of the pulsed laser beam 12.
  • the deviation amount of the optical path varies between maximum deflection amount and minimum deflection amount.
  • Fig. 9 shows locus of the projected pulsed laser beam 12 when the rotating prism 29 is used.
  • a solid line shows a condition where there is no rotating prism 29, i.e. a condition where the optical path is not deflected.
  • Each of two-dot chain lines shows a locus when the optical path is deflected by the rotating prism 29. Therefore, when angle of the optical path is deflected by the rotating prism 29, measurement can be performed by increasing more the density of the measuring points. For instance, when the rotating prism 29 is rotated at 1/2 of a rotating speed with respect to the rotation of the second deflection member 15, it is possible to perform the measurement with twice as high as measurement density.
  • the wedge prism may be designed as a combination of two wedge prisms, which have directions of thickness different from each other.
  • the measurement is performed. Thereby it is possible to acquire data at a multiple number of measuring points at the same time and to acquire measurement data in planar shape where no portion, for which measurement is not performed, exists.
  • the light emitting elements 11 and the photodetecting elements 18 are set up in circular arrangement, while the setup of the light emitting elements 11 and photodetecting elements 18 is not limited to the circular arrangement.
  • Fig. 10 (A) an arrangement in multiple concentricity may be adopted. By designing on the multiple concentricity, measurement density is increased. Or, as shown in Fig. 10 (B) , triangular arrangement may be adopted. In short, the light emitting elements 11 and the photodetecting elements 18 can be set up in two-dimensional arrangement.
  • the light emitting elements 11 and the photodetecting elements 18 are disposed on the circumference.
  • the light emitting elements 11 are defined as light emitting sources, and the photodetecting elements 18 themselves are defined as photodetectors, while it may be designed in such manner that the light emitting elements 11 and the photodetecting elements 18 are disposed at positions other than the positions of a light emitting unit 7 and a photodetector 8, that light emitting surfaces of optical fibers are disposed on the light emitting unit 7, that the pulsed laser beams 12 from the light emitting elements 11 are guided by the optical fiber, that the light emitting surfaces of the optical fibers are used as light emitting sources, and further, that end surfaces of the optical fibers are disposed at the positions of the photodetecting elements 18 as photodetecting surfaces, and that a reflection light 12' may be guided to the photodetecting elements 18 by the optical fiber.
  • the laser scanner according to the present invention may be fixedly provided and measurement may be made in planar arrangement with respect to an object, or, the laser scanner may be installed on a mobile object, and measurement may be performed on a multiple number of points arranged in planar setup on an object along the route while the mobile object is moving.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP11162947.3A 2010-04-22 2011-04-19 Laser scanner Active EP2381272B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010098670A JP5568363B2 (ja) 2010-04-22 2010-04-22 レーザスキャナ

Publications (2)

Publication Number Publication Date
EP2381272A1 EP2381272A1 (en) 2011-10-26
EP2381272B1 true EP2381272B1 (en) 2015-09-09

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JP5073256B2 (ja) 2006-09-22 2012-11-14 株式会社トプコン 位置測定装置及び位置測定方法及び位置測定プログラム
JP5263804B2 (ja) * 2007-04-20 2013-08-14 株式会社トプコン 多点測定方法及び測量装置
JP5145029B2 (ja) 2007-12-27 2013-02-13 株式会社トプコン 測量機及び測量補正方法
JP5150329B2 (ja) * 2008-03-26 2013-02-20 株式会社トプコン 測量装置及び測量システム
JP2009236774A (ja) * 2008-03-27 2009-10-15 Hokuyo Automatic Co 三次元測距装置
JP5267786B2 (ja) * 2008-09-17 2013-08-21 株式会社Ｉｈｉ レーザレーダ及びレーザレーダによる境界監視方法

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US8670130B2 (en) 2014-03-11
JP2011226977A (ja) 2011-11-10
JP5568363B2 (ja) 2014-08-06
EP2381272A1 (en) 2011-10-26

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